CN109348408B - Parking space determining method and device, electronic equipment, vehicle and storage medium - Google Patents

Parking space determining method and device, electronic equipment, vehicle and storage medium Download PDF

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CN109348408B
CN109348408B CN201811291309.5A CN201811291309A CN109348408B CN 109348408 B CN109348408 B CN 109348408B CN 201811291309 A CN201811291309 A CN 201811291309A CN 109348408 B CN109348408 B CN 109348408B
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current vehicle
moment
vehicle
position coordinates
determining
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CN109348408A (en
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杨明生
李冰
张丙林
周志鹏
李映辉
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Apollo Zhilian Beijing Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/148—Management of a network of parking areas
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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Abstract

The embodiment of the invention discloses a parking space determining method and device, electronic equipment, a vehicle and a storage medium. The method comprises the following steps: acquiring position coordinates of a current vehicle at an initial moment, IMU data and vehicle speed data of the current vehicle at each moment; determining the adjacent parking spaces of the current vehicle at all times according to the position coordinates of the current vehicle at the initial time and the IMU data and the vehicle speed data of the current vehicle at all times; and determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times. The user can be assisted in quickly determining the vehicle position.

Description

Parking space determining method and device, electronic equipment, vehicle and storage medium
Technical Field
The embodiment of the invention relates to the technical field of internet, in particular to a parking space determining method and device, electronic equipment, a vehicle and a storage medium.
Background
With the advent of the intelligent era, more and more intelligent technologies are applied to the field of vehicles. Under the environment without shielding, the vehicle can adopt a Global Positioning System (GPS) to determine the position of the vehicle; however, in a sheltered environment, for example, in a closed underground parking lot or a garage, the GPS signal is very weak, even the vehicle cannot receive the GPS signal, and at this time, the vehicle position can be determined only by memory or experience.
Disclosure of Invention
In view of this, embodiments of the present invention provide a parking space determining method and apparatus, an electronic device, a vehicle, and a storage medium, which can assist a user in quickly determining a vehicle position.
In a first aspect, an embodiment of the present invention provides a parking space determining method, where the method includes:
acquiring position coordinates of a current vehicle at an initial moment, IMU data and vehicle speed data of the current vehicle at each moment; wherein the IMU data includes at least: acceleration and angular velocity of the current vehicle in a three-dimensional space;
determining the adjacent parking spaces of the current vehicle at all times according to the position coordinates of the current vehicle at the initial time and the IMU data and the vehicle speed data of the current vehicle at all times;
and determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times.
In the above embodiment, the determining, according to the position coordinate of the current vehicle at the initial time and the IMU data and the vehicle speed data of the current vehicle at each time, the parking space adjacent to the current vehicle at each time includes:
determining the position coordinates of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment and the IMU data and the vehicle speed data of the current vehicle at each moment;
and determining the adjacent parking spaces of the current vehicle at various moments according to the position coordinates of the current vehicle at various moments.
In the above embodiment, the determining the position coordinates of the current vehicle at each time according to the position coordinates of the current vehicle at the initial time and the IMU data and the vehicle speed data of the current vehicle at each time includes:
predicting the position coordinates of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment and IMU data of the current vehicle at each moment;
calculating an error value and a residual error value of the current vehicle at each moment according to the speed data of the current vehicle at each moment;
and updating the position coordinates of the current vehicle at each moment according to the error value and the residual error value of the current vehicle at each moment.
In the above embodiment, the position coordinates include: a first position coordinate, a second position coordinate, and a third position coordinate; the determining the adjacent parking spaces of the current vehicle at each moment according to the position coordinates of the current vehicle at each moment comprises:
determining longitude and latitude intervals of the current vehicle at each moment according to the first position coordinates and the second position coordinates of the current vehicle at each moment;
determining an altitude interval of the current vehicle at each moment according to the third position coordinates of the current vehicle at each moment;
and determining the adjacent parking spaces of the current vehicle at each moment according to the longitude and latitude intervals and the altitude intervals of the current vehicle at each moment.
In the above embodiment, the determining the target parking space of the current vehicle according to the neighboring parking spaces of the current vehicle at various times includes:
converting the adjacent parking spaces of the current vehicle at all times into prompt messages of the current vehicle at all times; wherein the prompt message includes: text prompt information, image prompt information or voice prompt information;
and determining the target parking space of the current vehicle according to the prompt information of the current vehicle at each moment.
In a second aspect, an embodiment of the present invention provides a parking space determining device, where the device includes: the device comprises an acquisition module and a determination module; wherein the content of the first and second substances,
the acquisition module is used for acquiring the position coordinates of the current vehicle at the initial moment and IMU data and vehicle speed data of the current vehicle at each moment;
the determining module is used for determining the adjacent parking spaces of the current vehicle at all times according to the position coordinates of the current vehicle at the initial time and the IMU data and the vehicle speed data of the current vehicle at all times; and determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times.
In the above embodiment, the determining module is specifically configured to determine the position coordinates of the current vehicle at each time according to the position coordinates of the current vehicle at the initial time, and the IMU data and the vehicle speed data of the current vehicle at each time; and determining the adjacent parking spaces of the current vehicle at various moments according to the position coordinates of the current vehicle at various moments.
In the above embodiment, the determining module includes: a prediction submodule, a calculation submodule and an update submodule; wherein the content of the first and second substances,
the prediction submodule is used for predicting the position coordinates of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment and the IMU data of the current vehicle at each moment;
the calculation submodule is used for calculating an error value and a residual error value of the current vehicle at each moment according to the speed data of the current vehicle at each moment;
and the updating submodule is used for updating the position coordinates of the current vehicle at each moment according to the error value and the residual error value of the current vehicle at each moment.
In the above embodiment, the determining module is specifically configured to determine the longitude and latitude interval of the current vehicle at each time according to the first position coordinate and the second position coordinate of the current vehicle at each time; determining an altitude interval of the current vehicle at each moment according to the third position coordinates of the current vehicle at each moment; determining the adjacent parking spaces of the current vehicle at each moment according to the longitude and latitude intervals and the altitude intervals of the current vehicle at each moment; the position coordinates include: a first position coordinate, a second position coordinate, and a third position coordinate.
In the above embodiment, the determining module is specifically configured to convert the parking spaces adjacent to the current vehicle at each time into prompt information of the current vehicle at each time; wherein the prompt message includes: text prompt information, image prompt information or voice prompt information; and determining the target parking space of the current vehicle according to the prompt information of the current vehicle at each moment.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the parking space determination method according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a vehicle, which includes a vehicle body and further includes the electronic device described in the foregoing embodiment.
In a fifth aspect, an embodiment of the present invention provides a storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for determining a parking space according to any embodiment of the present invention is implemented.
The embodiment of the invention provides a parking space determining method, a parking space determining device, electronic equipment and a storage medium, wherein position coordinates of a current vehicle at an initial moment, IMU data and vehicle speed data of the current vehicle at each moment are obtained; then determining the adjacent parking spaces of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment, the IMU data and the vehicle speed data of the current vehicle at each moment; and determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times. That is to say, in the technical solution of the present invention, the parking space adjacent to the current vehicle at each time may be determined according to the position coordinate of the current vehicle at the initial time, the IMU data and the vehicle speed data of the current vehicle at each time, so that the target parking space of the current vehicle may be determined according to the parking space adjacent to the current vehicle at each time. In the existing parking space determining method, in a closed underground parking lot or garage, a GPS signal is very weak, and the position of a vehicle can be determined only by means of memory or experience. Therefore, compared with the prior art, the parking space determining method, the parking space determining device, the electronic equipment, the vehicle and the storage medium provided by the embodiment of the invention can assist the user to quickly determine the position of the vehicle; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
Drawings
Fig. 1 is a schematic flow chart of a parking space determining method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an underground parking garage according to an embodiment of the present invention;
fig. 3 is a schematic view of a parking space structure according to a first embodiment of the present invention;
fig. 4 is a schematic flow chart of a parking space determining method according to a second embodiment of the present invention;
fig. 5 is a schematic flow chart of a parking space determining method according to a third embodiment of the present invention;
fig. 6 is a first structural schematic diagram of a parking space determination device according to a fourth embodiment of the present invention;
fig. 7 is a second schematic structural diagram of a parking space determination device according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.
Example one
Fig. 1 is a flowchart of a parking space determining method according to an embodiment of the present invention, where the method may be executed by a parking space determining apparatus or an electronic device, where the apparatus or the electronic device may be implemented by software and/or hardware, and the apparatus or the electronic device may be integrated in any intelligent device with a network communication function, such as a vehicle. As shown in fig. 1, the parking space determining method may include the following steps:
s101, obtaining position coordinates of the current vehicle at an initial moment, IMU data and vehicle speed data of the current vehicle at each moment.
In the specific embodiment of the invention, the electronic equipment can acquire the position coordinates of the current vehicle at the initial moment, and IMU data and vehicle speed data of the current vehicle at each moment; wherein the IMU data at least comprises: acceleration and angular velocity of the vehicle in three dimensions are present.
Fig. 2 is a schematic structural diagram of an underground parking garage according to an embodiment of the present invention. As shown in fig. 2, the underground parking garage may include f floors; respectively as follows: layer 0, layer 1, layer 2, …, layer f; wherein, the position height of each layer is h, namely: the distance between the ceiling of the 0 th layer and the ceiling of the 1 st layer is h; the distance between the ceiling of the 1 st floor and the ceiling of the 2 nd floor is h; …, respectively; the distance between the ceiling of the (f-1) th floor and the ceiling of the f-th floor is h. Thus, on the premise that the layer height h is known, the height of the f-th layer is in the interval of [ f × h, (f-1) × h]In, the altitude that combines the altitude of entrance GPS position to obtain the altitude interval that the f floor corresponds, record:
Figure BDA0001850070770000071
wherein the content of the first and second substances,
Figure BDA0001850070770000072
is the altitude of the f-th floor,
Figure BDA0001850070770000073
is the elevation of the ceiling of the f-th floor.
Fig. 3 is a schematic view of a parking space structure according to a first embodiment of the present invention. As shown in FIG. 3, the m-th rectangular area A of the parking space can be calculated from the coordinates of the GPS point at the entrance and the corresponding distance vector1A2A3A4Inner latitude and longitude interval, wherein the latitude interval is recorded as
Figure BDA0001850070770000074
The longitude interval is recorded as
Figure BDA0001850070770000075
For any GPS coordinate (B, L, H), if
Figure BDA0001850070770000076
The floor is-f; if it is
Figure BDA0001850070770000077
And is
Figure BDA0001850070770000078
Figure BDA0001850070770000079
The parking space number is m; and (f, m) is the parking space information of the position. Specifically, the current vehicle may be driven from position P0And starting to drive to the mth parking place of the f floor along the dotted line in the figure, and finishing the parking task. First, the current vehicle enters the garage at entrance P before entering the garage0At this point, the electronic device may acquire the position coordinates (B) of the current vehicle at the initial time0，L0，H0) (ii) a Preferably, the electronic device can convert it to the ENU coordinate system, i.e., the northeast coordinate system, with the corresponding coordinate (X)0，Y0，Z0). Then, after the current vehicle enters the garage, the electronic device can acquire the IMU data and the vehicle speed data of the current vehicle at each moment. Specifically, the electronic device may respectively obtain IMU data 1 and vehicle speed data 1 of the current vehicle at time 1, IMU data 2 and vehicle speed data 2, … of the current vehicle at time 2, IMU data M and vehicle speed data M of the current vehicle at time M; wherein M is a natural number of 1 or more. When the current vehicle runs to the moment e, the vehicle finishes parking and stops at the mth parking place on the f floor, and the position of the vehicle is recorded as PeThe coordinate is (X)e，Ye，Ze) Converting the coordinate system into a GPS coordinate system to obtain a coordinate system with (B)e，Le，He). As shown in FIG. 3, a rectangle A formed by 4 corners of the vehicle at the parking space1A2A3A4By judging HeThe parking floor f can be determined according to the altitude interval; by judging (B)e，Le) The number m of the parking space where the vehicle is parked can be determined in the longitude and latitude interval of the parking space where the vehicle is parked; thus, the parking space information (f, m) of the vehicle is determined.
S102, determining the adjacent parking spaces of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment, the IMU data and the vehicle speed data of the current vehicle at each moment.
In an embodiment of the invention, the electronic device may determine the parking space adjacent to the current vehicle at each time according to the position coordinates of the current vehicle at the initial time, and the IMU data and the vehicle speed data of the current vehicle at each time. Specifically, the electronic device may determine the position coordinates of the current vehicle at each time according to the position coordinates of the current vehicle at the initial time, and the IMU data and the vehicle speed data of the current vehicle at each time; wherein the position coordinates include: a first position coordinate, a second position coordinate, and a third position coordinate. And then determining the adjacent parking spaces of the current vehicle at various moments according to the position coordinates of the current vehicle at various moments.
S103, determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times.
In an embodiment of the present invention, the electronic device may determine the target parking space of the current vehicle according to the neighboring parking spaces of the current vehicle at various times. Specifically, the electronic device can convert the adjacent parking spaces of the current vehicle at each moment into prompt information of the current vehicle at each moment; wherein, this tip information includes: text prompt information, image prompt information or voice prompt information; and then determining the target parking space of the current vehicle according to the prompt information of the current vehicle at each moment.
The parking space determining method provided by the embodiment of the invention comprises the steps of firstly obtaining the position coordinates of the current vehicle at the initial moment, IMU data and vehicle speed data of the current vehicle at each moment; then determining the adjacent parking spaces of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment, the IMU data and the vehicle speed data of the current vehicle at each moment; and determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times. That is to say, in the technical solution of the present invention, the parking space adjacent to the current vehicle at each time may be determined according to the position coordinate of the current vehicle at the initial time, the IMU data and the vehicle speed data of the current vehicle at each time, so that the target parking space of the current vehicle may be determined according to the parking space adjacent to the current vehicle at each time. In the existing parking space determining method, in a closed underground parking lot or garage, a GPS signal is very weak, and the position of a vehicle can be determined only by means of memory or experience. Therefore, compared with the prior art, the parking space determining method provided by the embodiment of the invention can assist the user to quickly determine the position of the vehicle; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
Example two
Fig. 4 is a schematic flow chart of a parking space determining method according to a second embodiment of the present invention. As shown in fig. 3, the parking space determining method may include the following steps:
s401, obtaining the position coordinates of the current vehicle at the initial moment, IMU data and vehicle speed data of the current vehicle at each moment.
In the specific embodiment of the invention, the electronic equipment can acquire the position coordinates of the current vehicle at the initial moment, and IMU data and vehicle speed data of the current vehicle at each moment; wherein the IMU data at least comprises: acceleration and angular velocity of the vehicle in three dimensions are present. As shown in FIG. 2, the current vehicle may be driven from position P0And starting to drive to the mth parking place of the f floor along the dotted line in the figure, and finishing the parking task. First, the current vehicle enters the garage at entrance P before entering the garage0At this point, the electronic device may acquire the position coordinates (B) of the current vehicle at the initial time0，L0，H0) (ii) a Preferably, the electronic device can convert it to the ENU coordinate system, i.e., the northeast coordinate system, with the corresponding coordinate (X)0，Y0，Z0). Then, after the current vehicle enters the garage, the electronic device can acquire the IMU data and the vehicle speed data of the current vehicle at each moment. Specifically, the electronic device may respectively acquire IMU data 1 and vehicle speed data of the current vehicle at time 11. IMU data 2 and vehicle speed data 2, … of the current vehicle at the moment 2, IMU data M and vehicle speed data M of the current vehicle at the moment M; wherein M is a natural number of 1 or more.
S402, determining the position coordinates of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment, IMU data and vehicle speed data of the current vehicle at each moment.
In a specific embodiment of the present invention, the electronic device may determine the position coordinates of the current vehicle at each time based on the position coordinates of the current vehicle at the initial time and the IMU data and the vehicle speed data of the current vehicle at each time. Specifically, the electronic device may predict the position coordinates of the current vehicle at each time according to the position coordinates of the current vehicle at the initial time and the IMU data of the current vehicle at each time; then calculating an error value and a residual error value of the current vehicle at each moment according to the speed data of the current vehicle at each moment; and updating the position coordinates of the current vehicle at each moment according to the error value and the residual error value of the current vehicle at each moment.
And S403, determining the adjacent parking spaces of the current vehicle at each moment according to the position coordinates of the current vehicle at each moment.
In a specific embodiment of the present invention, the electronic device may determine, according to the position coordinates of the current vehicle at each time, the parking space adjacent to the current vehicle at each time. Specifically, the electronic device may determine the position coordinates of the current vehicle at each time according to the position coordinates of the current vehicle at the initial time, and the IMU data and the vehicle speed data of the current vehicle at each time; wherein the position coordinates include: a first position coordinate, a second position coordinate, and a third position coordinate. And then determining the adjacent parking spaces of the current vehicle at various moments according to the position coordinates of the current vehicle at various moments.
And S404, determining a target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times.
In an embodiment of the present invention, the electronic device may determine the target parking space of the current vehicle according to the neighboring parking spaces of the current vehicle at various times. Specifically, the electronic device can convert the adjacent parking spaces of the current vehicle at each moment into prompt information of the current vehicle at each moment; wherein, this tip information includes: text prompt information, image prompt information or voice prompt information; and then determining the target parking space of the current vehicle according to the prompt information of the current vehicle at each moment.
The parking space determining method provided by the embodiment of the invention comprises the steps of firstly obtaining the position coordinates of the current vehicle at the initial moment, IMU data and vehicle speed data of the current vehicle at each moment; then determining the adjacent parking spaces of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment, the IMU data and the vehicle speed data of the current vehicle at each moment; and determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times. That is to say, in the technical solution of the present invention, the parking space adjacent to the current vehicle at each time may be determined according to the position coordinate of the current vehicle at the initial time, the IMU data and the vehicle speed data of the current vehicle at each time, so that the target parking space of the current vehicle may be determined according to the parking space adjacent to the current vehicle at each time. In the existing parking space determining method, in a closed underground parking lot or garage, a GPS signal is very weak, and the position of a vehicle can be determined only by means of memory or experience. Therefore, compared with the prior art, the parking space determining method provided by the embodiment of the invention can assist the user to quickly determine the position of the vehicle; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
EXAMPLE III
Fig. 5 is a schematic flow chart of a parking space determining method according to a third embodiment of the present invention. As shown in fig. 5, the parking space determining method may include the following steps:
s501, obtaining the position coordinates of the current vehicle at the initial moment, IMU data and vehicle speed data of the current vehicle at each moment.
In the specific embodiment of the invention, the electronic equipment can acquire the position coordinates of the current vehicle at the initial moment, and IMU data and vehicle speed data of the current vehicle at each moment; wherein the IMU data at least comprises: acceleration and angular velocity of the current vehicle in three-dimensional space. As shown in FIG. 2, the current vehicle may be driven from position P0And starting to drive to the mth parking place on the f floor along the dotted line in the figure, and finishing the parking task. First, the current vehicle enters the garage at entrance P before entering the garage0At this point, the electronic device may acquire the position coordinates (B) of the current vehicle at the initial time0，L0，H0) (ii) a Preferably, the electronic device can convert it to the ENU coordinate system, i.e., the northeast coordinate system, with the corresponding coordinate (X)0，Y0，Z0). Then, after the current vehicle enters the garage, the electronic device can acquire the IMU data and the vehicle speed data of the current vehicle at each moment. Specifically, the electronic device may respectively obtain IMU data 1 and vehicle speed data 1 of the current vehicle at time 1, IMU data 2 and vehicle speed data 2, … of the current vehicle at time 2, IMU data M and vehicle speed data M of the current vehicle at time M; wherein M is a natural number of 1 or more.
And S502, predicting the position coordinates of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment and the IMU data of the current vehicle at each moment.
In a specific embodiment of the present invention, the electronic device may predict the position coordinates of the current vehicle at each time based on the position coordinates of the current vehicle at the initial time and the IMU data of the current vehicle at each time. Specifically, the electronic device may calculate the position coordinate prediction amount at the k time according to the following formula (1)
Figure BDA0001850070770000121
Preferably, the electronic device can update the covariance according to the following formula (2)
Figure BDA0001850070770000122
Formula (1):
Figure BDA0001850070770000123
wherein F is a state transition equation; wkIs noise; u shapekIs the input quantity, namely IMU data. Formula (2):
Figure BDA0001850070770000124
wherein Q iskIs the variance.
S503, calculating an error value and a residual error value of the current vehicle at each moment according to the vehicle speed data of the current vehicle at each moment.
In an embodiment of the invention, the electronic device may calculate the error value and the residual error value of the current vehicle at each time according to the vehicle speed data of the current vehicle at each time. Specifically, the electronic device may calculate an error value Y of the current vehicle at each time according to the following formula (3) and formula (4)kAnd the residual value Sk. Formula (3):
Figure BDA0001850070770000125
wherein Z iskIs an observed variable; h is a correction equation. Formula (4):
Figure BDA0001850070770000126
wherein H is an observation equation; rkTo observe the noise error variance.
And S504, updating the position coordinates of the current vehicle at each moment according to the error value and the residual error value of the current vehicle at each moment.
In an embodiment of the present invention, the electronic device may update the position coordinates of the current vehicle at each time according to the error value and the residual error value of the vehicle at each time. Specifically, the electronic device first calculates a kalman gain according to the following formula (5); then obtaining more accurate real-time positioning data according to the following formula (6); the covariance matrix is then updated according to the following equation (7). Formula (5):
Figure BDA0001850070770000131
formula (6):
Figure BDA0001850070770000132
formula (7):
Figure BDA0001850070770000133
and S505, determining the adjacent parking spaces of the current vehicle at each moment according to the position coordinates of the current vehicle at each moment.
In an embodiment of the invention, the electronic device may determine the parking space adjacent to the current vehicle at each time according to the position coordinates of the current vehicle at the initial time, and the IMU data and the vehicle speed data of the current vehicle at each time. Specifically, the electronic device may determine the position coordinates of the current vehicle at each time according to the position coordinates of the current vehicle at the initial time, and the IMU data and the vehicle speed data of the current vehicle at each time; wherein the position coordinates include: a first position coordinate, a second position coordinate, and a third position coordinate. And then determining the adjacent parking spaces of the current vehicle at various moments according to the position coordinates of the current vehicle at various moments.
And S506, determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times.
In an embodiment of the present invention, the electronic device may determine the target parking space of the current vehicle according to the neighboring parking spaces of the current vehicle at various times. Specifically, the electronic device can convert the adjacent parking spaces of the current vehicle at each moment into prompt information of the current vehicle at each moment; wherein, this tip information includes: text prompt information, image prompt information or voice prompt information; and then determining the target parking space of the current vehicle according to the prompt information of the current vehicle at each moment.
The parking space determining method provided by the embodiment of the invention comprises the steps of firstly obtaining the position coordinates of the current vehicle at the initial moment, IMU data and vehicle speed data of the current vehicle at each moment; then determining the adjacent parking spaces of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment, the IMU data and the vehicle speed data of the current vehicle at each moment; and determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times. That is to say, in the technical solution of the present invention, the parking space adjacent to the current vehicle at each time may be determined according to the position coordinate of the current vehicle at the initial time, the IMU data and the vehicle speed data of the current vehicle at each time, so that the target parking space of the current vehicle may be determined according to the parking space adjacent to the current vehicle at each time. In the existing parking space determining method, in a closed underground parking lot or garage, a GPS signal is very weak, and the position of a vehicle can be determined only by means of memory or experience. Therefore, compared with the prior art, the parking space determining method provided by the embodiment of the invention can assist the user to quickly determine the position of the vehicle; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
Example four
Fig. 6 is a first structural schematic diagram of a parking space determination device according to a fourth embodiment of the present invention. As shown in fig. 6, the parking space determining device according to the embodiment of the present invention may include: an acquisition module 601 and a determination module 602; wherein the content of the first and second substances,
the obtaining module 601 is configured to obtain a position coordinate of a current vehicle at an initial time, and IMU data and vehicle speed data of the current vehicle at each time;
the determining module 602 is configured to determine, according to the position coordinates of the current vehicle at the initial time, and the IMU data and the vehicle speed data of the current vehicle at each time, parking spaces adjacent to the current vehicle at each time; and determining the target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times.
Further, the determining module 602 is specifically configured to determine the position coordinates of the current vehicle at each time according to the position coordinates of the current vehicle at the initial time, and the IMU data and the vehicle speed data of the current vehicle at each time; and determining the adjacent parking spaces of the current vehicle at various moments according to the position coordinates of the current vehicle at various moments.
Fig. 7 is a second schematic structural diagram of the parking space determination device according to the fourth embodiment of the present invention. As shown in fig. 7, the determining module 602 includes: a prediction sub-module 6021, a calculation sub-module 6022, and an update sub-module 6023; wherein the content of the first and second substances,
the prediction submodule 6021 is configured to predict the position coordinate of the current vehicle at each time according to the position coordinate of the current vehicle at the initial time and the IMU data of the current vehicle at each time;
the calculating submodule 6022 is configured to calculate an error value and a residual error value of the current vehicle at each time according to the vehicle speed data of the current vehicle at each time;
the updating submodule 6023 is configured to update the position coordinates of the current vehicle at each time according to the error value and the residual error value of the current vehicle at each time.
Further, the determining module 602 is specifically configured to determine a longitude and latitude interval of the current vehicle at each time according to the first position coordinate and the second position coordinate of the current vehicle at each time; determining an altitude interval of the current vehicle at each moment according to the third position coordinates of the current vehicle at each moment; determining the adjacent parking spaces of the current vehicle at each moment according to the longitude and latitude intervals and the altitude intervals of the current vehicle at each moment; wherein the position coordinates include: a first position coordinate, a second position coordinate, and a third position coordinate.
Further, the determining module 602 is specifically configured to convert the parking spaces adjacent to the current vehicle at various times into prompt information of the current vehicle at various times; wherein the prompt message includes: text prompt information, image prompt information or voice prompt information; and determining the target parking space of the current vehicle according to the prompt information of the current vehicle at each moment.
The parking space determining device can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. The technical details that are not described in detail in this embodiment can be referred to the parking space determination method provided by any embodiment of the present invention.
EXAMPLE five
Fig. 8 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in FIG. 8, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with electronic device 12, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, to implement the parking space determining method provided by the embodiment of the present invention.
EXAMPLE six
The sixth embodiment of the invention provides a computer storage medium.
The computer-readable storage media of embodiments of the invention may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (9)

1. A parking space determination method is applied to a vehicle and comprises the following steps:
acquiring position coordinates of a current vehicle at an initial moment, IMU data and vehicle speed data of the current vehicle at each moment;
determining the adjacent parking spaces of the current vehicle at all times according to the position coordinates of the current vehicle at the initial time and the IMU data and the vehicle speed data of the current vehicle at all times;
determining a target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times;
the determining the parking spaces adjacent to the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment, the IMU data and the vehicle speed data of the current vehicle at each moment comprises the following steps:
determining the position coordinates of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment and the IMU data and the vehicle speed data of the current vehicle at each moment; the position coordinates include: a first position coordinate, a second position coordinate, and a third position coordinate;
determining longitude and latitude intervals of the current vehicle at each moment according to the first position coordinates and the second position coordinates of the current vehicle at each moment;
determining an altitude interval of the current vehicle at each moment according to the third position coordinates of the current vehicle at each moment;
and determining the adjacent parking spaces of the current vehicle at each moment according to the longitude and latitude intervals and the altitude intervals of the current vehicle at each moment.
2. The method of claim 1, wherein determining the position coordinates of the current vehicle at each time based on the position coordinates of the current vehicle at the initial time and the IMU data and vehicle speed data of the current vehicle at each time comprises:
predicting the position coordinates of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment and IMU data of the current vehicle at each moment;
calculating an error value and a residual error value of the current vehicle at each moment according to the speed data of the current vehicle at each moment;
and updating the position coordinates of the current vehicle at each moment according to the error value and the residual error value of the current vehicle at each moment.
3. The method of claim 1, wherein the determining the target space of the current vehicle according to the neighboring spaces of the current vehicle at various times comprises:
converting the adjacent parking spaces of the current vehicle at all times into prompt messages of the current vehicle at all times; wherein the prompt message includes: text prompt information, image prompt information or voice prompt information;
and determining the target parking space of the current vehicle according to the prompt information of the current vehicle at each moment.
4. A vehicle space determining apparatus, the apparatus being provided in a vehicle, comprising: the device comprises an acquisition module and a determination module; wherein the content of the first and second substances,
the acquisition module is used for acquiring the position coordinates of the current vehicle at the initial moment and IMU data and vehicle speed data of the current vehicle at each moment;
the determining module is used for determining the adjacent parking spaces of the current vehicle at all times according to the position coordinates of the current vehicle at the initial time and the IMU data and the vehicle speed data of the current vehicle at all times; determining a target parking space of the current vehicle according to the adjacent parking spaces of the current vehicle at all times;
the determining module is specifically configured to determine the position coordinates of the current vehicle at each time according to the position coordinates of the current vehicle at the initial time and the IMU data and the vehicle speed data of the current vehicle at each time; the position coordinates include: a first position coordinate, a second position coordinate, and a third position coordinate; the determining module is further specifically configured to determine a longitude and latitude interval of the current vehicle at each time according to the first position coordinate and the second position coordinate of the current vehicle at each time; determining an altitude interval of the current vehicle at each moment according to the third position coordinates of the current vehicle at each moment; and determining the adjacent parking spaces of the current vehicle at each moment according to the longitude and latitude intervals and the altitude intervals of the current vehicle at each moment.
5. The apparatus of claim 4, wherein the determining module comprises: a prediction submodule, a calculation submodule and an update submodule; wherein the content of the first and second substances,
the prediction submodule is used for predicting the position coordinates of the current vehicle at each moment according to the position coordinates of the current vehicle at the initial moment and the IMU data of the current vehicle at each moment;
the calculation submodule is used for calculating an error value and a residual error value of the current vehicle at each moment according to the speed data of the current vehicle at each moment;
and the updating submodule is used for updating the position coordinates of the current vehicle at each moment according to the error value and the residual error value of the current vehicle at each moment.
6. The apparatus of claim 4, wherein:
the determining module is specifically configured to convert the parking spaces adjacent to the current vehicle at each time into prompt information of the current vehicle at each time; wherein the prompt message includes: text prompt information, image prompt information or voice prompt information; and determining the target parking space of the current vehicle according to the prompt information of the current vehicle at each moment.
7. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the stall determination method of any one of claims 1 to 3.
8. A vehicle comprising a vehicle body, characterized by further comprising the electronic device of claim 7.
9. A storage medium on which a computer program is stored, which program, when being executed by a processor, carries out a method for determining a space according to any one of claims 1 to 3.
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